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<div class="title">narf_keypoint.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">/* \author Bastian Steder */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_NARF_KEYPOINT_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_NARF_KEYPOINT_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">class </span>RangeImage;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">class </span>RangeImageBorderExtractor;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html">   60</a></span>&#160;<span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_narf_keypoint.html">NarfKeypoint</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointWithRange, int&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typedef</span> boost::shared_ptr&lt;NarfKeypoint&gt; Ptr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">typedef</span> boost::shared_ptr&lt;const NarfKeypoint&gt; ConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointWithRange, int&gt;</a> <a class="code" href="classpcl_1_1_keypoint.html">BaseClass</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointWithRange, int&gt;::PointCloudOut</a> PointCloudOut;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// =====PUBLIC STRUCTS=====</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html">   73</a></span>&#160;<span class="comment"></span>    <span class="keyword">struct </span><a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html">Parameters</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html">Parameters</a>() : support_size(-1.0f), max_no_of_interest_points(-1), min_distance_between_interest_points(0.25f),</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                     optimal_distance_to_high_surface_change(0.25), min_interest_value(0.45f),</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                     min_surface_change_score(0.2f), optimal_range_image_patch_size(10),</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                     distance_for_additional_points(0.0f), add_points_on_straight_edges(<span class="keyword">false</span>),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                     do_non_maximum_suppression(<span class="keyword">true</span>), no_of_polynomial_approximations_per_point(0),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                     max_no_of_threads(1), use_recursive_scale_reduction(<span class="keyword">false</span>),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                     calculate_sparse_interest_image(<span class="keyword">true</span>) {}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#af36531c43e56b1698a8f2fd79c0eb251">   83</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#af36531c43e56b1698a8f2fd79c0eb251">support_size</a>;  </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3f4b5b131dada5df6e13a9c3bf01a66e">   84</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3f4b5b131dada5df6e13a9c3bf01a66e">max_no_of_interest_points</a>;  </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a086e73e198f6e1c50dd2d17dd22e3a53">   85</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a086e73e198f6e1c50dd2d17dd22e3a53">min_distance_between_interest_points</a>;  </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a163e1beb9fd2bcb1b3715a578d6aab1c">   88</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a163e1beb9fd2bcb1b3715a578d6aab1c">optimal_distance_to_high_surface_change</a>;  </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a86a40d5c3e1a8b31241ddd872caacd47">   92</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a86a40d5c3e1a8b31241ddd872caacd47">min_interest_value</a>;  </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3204bc918f5532156b3dd2b8fb642345">   93</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3204bc918f5532156b3dd2b8fb642345">min_surface_change_score</a>;  </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#ab69dbdcd8e499d7c04e5cb2d30a33272">   94</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#ab69dbdcd8e499d7c04e5cb2d30a33272">optimal_range_image_patch_size</a>;  </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// TODO:</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a449a59fdcd470dc1fa78f4131687004b">   99</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a449a59fdcd470dc1fa78f4131687004b">distance_for_additional_points</a>;  </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a48f26ea3ee5b7b3d049b9621502d9f81">  103</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a48f26ea3ee5b7b3d049b9621502d9f81">add_points_on_straight_edges</a>;  </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a5ae637cdfa77a78ec47091eab43da7d7">  105</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a5ae637cdfa77a78ec47091eab43da7d7">do_non_maximum_suppression</a>;  </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a960a7577859b15aee71aad25d44c2380">  108</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a960a7577859b15aee71aad25d44c2380">no_of_polynomial_approximations_per_point</a>; </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9486be94ad1cc5f25fb69d3570c71356">  111</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9486be94ad1cc5f25fb69d3570c71356">max_no_of_threads</a>;  </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a2b72025768a23a4acc147b83ab251b2f">  112</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a2b72025768a23a4acc147b83ab251b2f">use_recursive_scale_reduction</a>;  </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9569200715d270b37ddc83674eae56bd">  114</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9569200715d270b37ddc83674eae56bd">calculate_sparse_interest_image</a>;  </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    };</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="classpcl_1_1_narf_keypoint.html">NarfKeypoint</a> (<a class="code" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a>* range_image_border_extractor=NULL, <span class="keywordtype">float</span> support_size=-1.0f);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_narf_keypoint.html">NarfKeypoint</a> ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#aa211ef313b846e6b9d5af4a921721088">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#aa211ef313b846e6b9d5af4a921721088">clearData</a> ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a9b101e191efa338cb42761b00382c879">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a9b101e191efa338cb42761b00382c879">setRangeImageBorderExtractor</a> (<a class="code" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a>* range_image_border_extractor);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a>*</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#ac6248c18fb63bba9eb1c42a0a6e3959e">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#ac6248c18fb63bba9eb1c42a0a6e3959e">getRangeImageBorderExtractor</a> ()  { <span class="keywordflow">return</span> range_image_border_extractor_; }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a86b01311b9bed5200964ad464033b02d">  137</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a86b01311b9bed5200964ad464033b02d">setRangeImage</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>* range_image);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#ab5354883380de350b56d7a04ddae2b88">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#ab5354883380de350b56d7a04ddae2b88">getInterestImage</a> () { calculateInterestImage(); <span class="keywordflow">return</span> interest_image_;}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    const ::pcl::PointCloud&lt;InterestPoint&gt;&amp;</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a4330f1b3b2962e8df799592a45ce6736">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a4330f1b3b2962e8df799592a45ce6736">getInterestPoints</a> () { calculateInterestPoints(); <span class="keywordflow">return</span> *interest_points_;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">const</span> std::vector&lt;bool&gt;&amp;</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#ad0be2b830e18c364b680df615e0fb442">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#ad0be2b830e18c364b680df615e0fb442">getIsInterestPointImage</a> () { calculateInterestPoints(); <span class="keywordflow">return</span> is_interest_point_image_;}</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    Parameters&amp;</div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a2ab427b4391a1f855cdbe83d76e7a467">  153</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a2ab427b4391a1f855cdbe83d76e7a467">getParameters</a> () { <span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>&amp;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a1cb760116e08c35b8e06cde5f560858f">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a1cb760116e08c35b8e06cde5f560858f">getRangeImage</a> ();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#a594e9663dea26dfd35f4bb38152c4c32">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#a594e9663dea26dfd35f4bb38152c4c32">compute</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">// =====PROTECTED METHODS=====</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      calculateScaleSpace ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      calculateInterestImage ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      calculateCompleteInterestImage ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      calculateSparseInterestImage ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      calculateInterestPoints ();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">//void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="comment">//blurInterestImage ();</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment"></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_narf_keypoint.html#aae99e6ccd03c80586442132103f3a859">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_narf_keypoint.html#aae99e6ccd03c80586442132103f3a859">detectKeypoints</a> (PointCloudOut&amp; output);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="comment">// =====PROTECTED MEMBER VARIABLES=====</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">using</span> BaseClass::name_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <a class="code" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a>* range_image_border_extractor_;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html">Parameters</a> parameters_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">float</span>* interest_image_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">::pcl::PointCloud&lt;InterestPoint&gt;</a>* interest_points_;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    std::vector&lt;bool&gt; is_interest_point_image_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    std::vector&lt;RangeImage*&gt; range_image_scale_space_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    std::vector&lt;RangeImageBorderExtractor*&gt; border_extractor_scale_space_;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    std::vector&lt;float*&gt; interest_image_scale_space_;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;};</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">inline</span> std::ostream&amp;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  operator &lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_narf_keypoint_1_1_parameters.html">NarfKeypoint::Parameters</a>&amp; p)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  os &lt;&lt; PVARC(p.support_size) &lt;&lt; PVARC(p.min_distance_between_interest_points)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;     &lt;&lt; PVARC(p.min_interest_value) &lt;&lt; PVARN(p.distance_for_additional_points);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}  <span class="comment">// end namespace pcl</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_NARF_KEYPOINT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html">pcl::NarfKeypoint</a></div><div class="ttdoc">NARF (Normal Aligned Radial Feature) keypoints. Input is a range image, output the indices of the key...</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a1cb760116e08c35b8e06cde5f560858f"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a1cb760116e08c35b8e06cde5f560858f">pcl::NarfKeypoint::getRangeImage</a></div><div class="ttdeci">const RangeImage &amp; getRangeImage()</div><div class="ttdoc">Getter for the range image of range_image_border_extractor_</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a2ab427b4391a1f855cdbe83d76e7a467"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a2ab427b4391a1f855cdbe83d76e7a467">pcl::NarfKeypoint::getParameters</a></div><div class="ttdeci">Parameters &amp; getParameters()</div><div class="ttdoc">Getter for the parameter struct</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a4330f1b3b2962e8df799592a45ce6736"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a4330f1b3b2962e8df799592a45ce6736">pcl::NarfKeypoint::getInterestPoints</a></div><div class="ttdeci">const ::pcl::PointCloud&lt; InterestPoint &gt; &amp; getInterestPoints()</div><div class="ttdoc">Extract maxima from an interest image</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a594e9663dea26dfd35f4bb38152c4c32"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a594e9663dea26dfd35f4bb38152c4c32">pcl::NarfKeypoint::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overwrite the compute function of the base class</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a86b01311b9bed5200964ad464033b02d"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a86b01311b9bed5200964ad464033b02d">pcl::NarfKeypoint::setRangeImage</a></div><div class="ttdeci">void setRangeImage(const RangeImage *range_image)</div><div class="ttdoc">Set the RangeImage member of the RangeImageBorderExtractor</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_a9b101e191efa338cb42761b00382c879"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#a9b101e191efa338cb42761b00382c879">pcl::NarfKeypoint::setRangeImageBorderExtractor</a></div><div class="ttdeci">void setRangeImageBorderExtractor(RangeImageBorderExtractor *range_image_border_extractor)</div><div class="ttdoc">Set the RangeImageBorderExtractor member (required)</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_aa211ef313b846e6b9d5af4a921721088"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#aa211ef313b846e6b9d5af4a921721088">pcl::NarfKeypoint::clearData</a></div><div class="ttdeci">void clearData()</div><div class="ttdoc">Erase all data calculated for the current range image</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_aae99e6ccd03c80586442132103f3a859"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#aae99e6ccd03c80586442132103f3a859">pcl::NarfKeypoint::detectKeypoints</a></div><div class="ttdeci">virtual void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Detect key points</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_ab5354883380de350b56d7a04ddae2b88"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#ab5354883380de350b56d7a04ddae2b88">pcl::NarfKeypoint::getInterestImage</a></div><div class="ttdeci">float * getInterestImage()</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_ac6248c18fb63bba9eb1c42a0a6e3959e"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#ac6248c18fb63bba9eb1c42a0a6e3959e">pcl::NarfKeypoint::getRangeImageBorderExtractor</a></div><div class="ttdeci">RangeImageBorderExtractor * getRangeImageBorderExtractor()</div><div class="ttdoc">Get the RangeImageBorderExtractor member</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_narf_keypoint_html_ad0be2b830e18c364b680df615e0fb442"><div class="ttname"><a href="classpcl_1_1_narf_keypoint.html#ad0be2b830e18c364b680df615e0fb442">pcl::NarfKeypoint::getIsInterestPointImage</a></div><div class="ttdeci">const std::vector&lt; bool &gt; &amp; getIsInterestPointImage()</div><div class="ttdoc">Set all points in the image that are interest points to true, the rest to false</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html">pcl::RangeImageBorderExtractor</a></div><div class="ttdoc">Extract obstacle borders from range images, meaning positions where there is a transition from foregr...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html">pcl::NarfKeypoint::Parameters</a></div><div class="ttdoc">Parameters used in this class</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:74</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a086e73e198f6e1c50dd2d17dd22e3a53"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a086e73e198f6e1c50dd2d17dd22e3a53">pcl::NarfKeypoint::Parameters::min_distance_between_interest_points</a></div><div class="ttdeci">float min_distance_between_interest_points</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:85</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a163e1beb9fd2bcb1b3715a578d6aab1c"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a163e1beb9fd2bcb1b3715a578d6aab1c">pcl::NarfKeypoint::Parameters::optimal_distance_to_high_surface_change</a></div><div class="ttdeci">float optimal_distance_to_high_surface_change</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a2b72025768a23a4acc147b83ab251b2f"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a2b72025768a23a4acc147b83ab251b2f">pcl::NarfKeypoint::Parameters::use_recursive_scale_reduction</a></div><div class="ttdeci">bool use_recursive_scale_reduction</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:112</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a3204bc918f5532156b3dd2b8fb642345"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3204bc918f5532156b3dd2b8fb642345">pcl::NarfKeypoint::Parameters::min_surface_change_score</a></div><div class="ttdeci">float min_surface_change_score</div><div class="ttdoc">The minimum value of the surface change score to consider a point</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:93</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a3f4b5b131dada5df6e13a9c3bf01a66e"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a3f4b5b131dada5df6e13a9c3bf01a66e">pcl::NarfKeypoint::Parameters::max_no_of_interest_points</a></div><div class="ttdeci">int max_no_of_interest_points</div><div class="ttdoc">The maximum number of interest points that will be returned</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:84</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a449a59fdcd470dc1fa78f4131687004b"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a449a59fdcd470dc1fa78f4131687004b">pcl::NarfKeypoint::Parameters::distance_for_additional_points</a></div><div class="ttdeci">float distance_for_additional_points</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:99</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a48f26ea3ee5b7b3d049b9621502d9f81"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a48f26ea3ee5b7b3d049b9621502d9f81">pcl::NarfKeypoint::Parameters::add_points_on_straight_edges</a></div><div class="ttdeci">bool add_points_on_straight_edges</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:103</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a5ae637cdfa77a78ec47091eab43da7d7"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a5ae637cdfa77a78ec47091eab43da7d7">pcl::NarfKeypoint::Parameters::do_non_maximum_suppression</a></div><div class="ttdeci">bool do_non_maximum_suppression</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:105</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a86a40d5c3e1a8b31241ddd872caacd47"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a86a40d5c3e1a8b31241ddd872caacd47">pcl::NarfKeypoint::Parameters::min_interest_value</a></div><div class="ttdeci">float min_interest_value</div><div class="ttdoc">The minimum value to consider a point as an interest point</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:92</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a9486be94ad1cc5f25fb69d3570c71356"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9486be94ad1cc5f25fb69d3570c71356">pcl::NarfKeypoint::Parameters::max_no_of_threads</a></div><div class="ttdeci">int max_no_of_threads</div><div class="ttdoc">The maximum number of threads this code is allowed to use with OPNEMP</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:111</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a9569200715d270b37ddc83674eae56bd"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a9569200715d270b37ddc83674eae56bd">pcl::NarfKeypoint::Parameters::calculate_sparse_interest_image</a></div><div class="ttdeci">bool calculate_sparse_interest_image</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:114</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_a960a7577859b15aee71aad25d44c2380"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#a960a7577859b15aee71aad25d44c2380">pcl::NarfKeypoint::Parameters::no_of_polynomial_approximations_per_point</a></div><div class="ttdeci">bool no_of_polynomial_approximations_per_point</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:108</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_ab69dbdcd8e499d7c04e5cb2d30a33272"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#ab69dbdcd8e499d7c04e5cb2d30a33272">pcl::NarfKeypoint::Parameters::optimal_range_image_patch_size</a></div><div class="ttdeci">int optimal_range_image_patch_size</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:94</div></div>
<div class="ttc" id="astructpcl_1_1_narf_keypoint_1_1_parameters_html_af36531c43e56b1698a8f2fd79c0eb251"><div class="ttname"><a href="structpcl_1_1_narf_keypoint_1_1_parameters.html#af36531c43e56b1698a8f2fd79c0eb251">pcl::NarfKeypoint::Parameters::support_size</a></div><div class="ttdeci">float support_size</div><div class="ttdoc">This defines the area 'covered' by an interest point (in meters)</div><div class="ttdef"><b>Definition:</b> narf_keypoint.h:83</div></div>
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